- Added pca9685 package 16-channel, 12-bit PWM controller with I2C

- Added servo package to control servos using pca9685 package

samples/pca9685.go

@@ -0,0 +1,46 @@
+package main
+
+import (
+	"log"
+	"os"
+	"os/signal"
+	"time"
+
+	"github.com/kid0m4n/go-rpi/controller/pca9685"
+	"github.com/kid0m4n/go-rpi/i2c"
+)
+
+func main() {
+	bus, err := i2c.NewBus(1)
+	if err != nil {
+		log.Panic(err)
+	}
+
+	pca9685 := pca9685.New(bus, 0x41, 1000)
+	pca9685.SetDebug(true)
+	defer pca9685.Close()
+
+	if err := pca9685.SetPwm(15, 0, 1000); err != nil {
+		log.Panic(err)
+	}
+
+	c := make(chan os.Signal, 1)
+	signal.Notify(c, os.Interrupt, os.Kill)
+
+	timer := time.Tick(2 * time.Second)
+	sleeping := false
+
+	for {
+		select {
+		case <-timer:
+			sleeping = !sleeping
+			if sleeping {
+				pca9685.Sleep()
+			} else {
+				pca9685.Wake()
+			}
+		case <-c:
+			return
+		}
+	}
+}

samples/servo.go

@@ -0,0 +1,51 @@
+package main
+
+import (
+	"log"
+	"os"
+	"os/signal"
+	"time"
+
+	"github.com/kid0m4n/go-rpi/controller/pca9685"
+	"github.com/kid0m4n/go-rpi/i2c"
+	"github.com/kid0m4n/go-rpi/motion/servo"
+)
+
+func main() {
+	bus, err := i2c.NewBus(1)
+	if err != nil {
+		log.Panic(err)
+	}
+
+	pwm := pca9685.New(bus, 0x42, 50)
+	defer pwm.Close()
+
+	servo := servo.New(pwm, 50, 0, 1, 2.5)
+	servo.SetDebug(true)
+
+	c := make(chan os.Signal, 1)
+	signal.Notify(c, os.Interrupt, os.Kill)
+
+	turnTimer := time.Tick(500 * time.Millisecond)
+	left := true
+
+	servo.SetAngle(90)
+	defer func() {
+		servo.SetAngle(90)
+	}()
+
+	for {
+		select {
+		case <-turnTimer:
+			left = !left
+			switch left {
+			case true:
+				servo.SetAngle(70)
+			case false:
+				servo.SetAngle(110)
+			}
+		case <-c:
+			return
+		}
+	}
+}